src/ar3_description/ar3_description/state_publisher_net.py

@@ -6,7 +6,6 @@ from geometry_msgs.msg import Quaternion
 from sensor_msgs.msg import JointState
 from tf2_ros import TransformBroadcaster, TransformStamped
 import socket
-import struct
 
 class StatePublisher(Node):
 
@@ -39,18 +38,16 @@ class StatePublisher(Node):
             cli.settimeout(0)
             cli.setblocking(0)
             print(cli, addr)
-            self.prev_time = time.time()
             while rclpy.ok():
                 try:
-                    msg = cli.recv(2048)
+                    msg = cli.recv(4096)
                     if msg == b'':
-                        cli.close()
                         print('bailing')
                         break
-                    print(repr(msg))
+                    # print(repr(msg))
 
-                    if len(msg) >= 13 and msg[12] == 10:
+                    if len(msg) >= 7 and msg[6] == 10:
-                        self.cmd_joints = struct.unpack('hhhhhh', msg[:-1])
+                        self.cmd_joints = [msg[0], msg[1], msg[2], msg[3], msg[4], msg[5]]
                         self.cmd_joints = [a / 180. * pi for a in self.cmd_joints]
                 except BlockingIOError as e:
                     pass

src/net_robot/net_robot/net_robot.py

@@ -1,70 +1,6 @@
-import rclpy
+def main():
-from rclpy.node import Node
+    print('Hi from net_robot.')
-from rclpy.qos import QoSProfile
 
-from std_msgs.msg import Float32
-
-import socket
-import struct
-
-class NetRobot(Node):
-    def __init__(self):
-        super().__init__('state_publisher')
-
-        qos = QoSProfile(depth=10)
-        self.create_subscription(Float32, '~/drives/j1', self._on_j1, qos)
-        self.create_subscription(Float32, '~/drives/j2', self._on_j2, qos)
-        self.create_subscription(Float32, '~/drives/j3', self._on_j3, qos)
-        self.create_subscription(Float32, '~/drives/j4', self._on_j4, qos)
-        self.create_subscription(Float32, '~/drives/j5', self._on_j5, qos)
-        self.create_subscription(Float32, '~/drives/j6', self._on_j6, qos)
-
-        self._sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-        # self._sock.connect(('tmuller.xyz', 9999))
-        self._sock.connect(('127.0.0.1', 9999))
-
-        self._joints = [0.] * 6
-        self._prev_joints = [0.] * 6
-
-    def _send(self):
-        if self._joints != self._prev_joints:
-            self._sock.send(struct.pack('hhhhhh', *[int(j) for j in self._joints]) + b'\n')
-            self._prev_joints = self._joints.copy()
-
-    def _on_j1(self, msg):
-        self._joints[0] = msg.data
-        self._send()
-
-    def _on_j2(self, msg):
-        self._joints[1] = msg.data
-        self._send()
-
-    def _on_j3(self, msg):
-        self._joints[2] = msg.data
-        self._send()
-
-    def _on_j4(self, msg):
-        self._joints[3] = msg.data
-        self._send()
-
-    def _on_j5(self, msg):
-        self._joints[4] = msg.data
-        self._send()
-
-    def _on_j6(self, msg):
-        self._joints[5] = msg.data
-        self._send()
-
-
-def main(args=None):
-    rclpy.init(args=args)
-
-    node = NetRobot()
-
-    rclpy.spin(node)
-
-    node.destroy_node()
-    rclpy.shutdown()
 
 if __name__ == '__main__':
     main()